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dent/Commands/Collector/RollIn.cpp

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#include "RollIn.h"
RollIn::RollIn() : Command("RollIn"){
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Requires(DentRobot::collector);
}
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void RollIn::Initialize(){
printf("Initialized RollIn\n");
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SetTimeout(2.0);
}
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void RollIn::Execute(){
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//TODO check this value to move the motors in the right direction
DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
}
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bool RollIn::IsFinished(){
return DentRobot::collector->BoxCollected()||IsTimedOut();
}
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void RollIn::End(){
DentRobot::collector->MoveRollers(0.0);
}
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void RollIn::Interrupted(){
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End();
}
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// vim: ts=2:sw=2:et